TWO POINT BOUNDARY VALUE INVERSE DYNAMIC METHODS OF FLEXIBLE MANIPULATORS ——THEORETICAL ANALYSIS AND EXPERIMENTAL RESULTS

Two point boundary value inverse dynamic methods of flexible manipulators based on optimal control theory are proposed in the present paper. The open loop inputs obtained by the proposed method can make the flexible manipulator accomplish the point to point motion or trajectory tracking while greatly reduce or eli min ate the influence of the flexibility on the accurate positioning. Numerical imitation and experimental results coincide with the theoretical analyses.